Historically, software assurance technologies and robust fault-tolerant control (RFTC) theory were developed under different assumptions and models. The software assurance technologies are often model-based that require the profile of the physical dynamics and the observation of the system state, which may not be available when physical defects exist. On the other hand, though the existing RFTC techniques can efficiently compensate for the physical damage, it is critical to guarantee that the control software and the sensor data are not compromised.
